The vibrant energy of “Dancing with the Stars” was on full display as it marked two decades in the spotlight on Tuesday night. The milestone was celebrated with a grand gathering of beloved past participants, professional dancers, and the return of former host Tom Bergeron, who took a seat at the judges’ table for the evening.

In a nod to the show’s origins, Derek Hough, a former mirror ball champion turned judge, crafted a captivating opening number. The routine featured the six original professional dancers from the inaugural season: Alec Mazo, Ashly DelGrosso, Louis van Amstel, Jonathan Roberts, Charlotte Jorgensen, and Edyta Sliwinska, setting the stage for the current pros to finish the intricate dance with flair and precision.

Who got perfect scores on week 9 of “Dancing with the Stars” Season 34?

This week’s competition saw each couple embracing a new dance style. Robert Irwin and Witney Carson made headlines by achieving the first perfect score of the season with their elegant foxtrot. Adding to the excitement, Prince William provided a royal boost of motivation via FaceTime during rehearsals, as both he and Irwin share a passion for conservation efforts.

Not far behind, Dylan Efron and Daniella Karagach dazzled the judges with their flawless Argentine tango, earning them a perfect score as well.

The evening’s excellence continued with Alix Earle and Val Chmerkovskiy, who wowed the panel with their impeccable foxtrot, while Whitney Leavitt and Mark Ballas also achieved a perfect 40 with their sensational Argentine tango, showcasing the high caliber of talent this season.

Who won the “Dancing with the Stars” relay dance?

The second round of the competition was a Relay Dance where couples competed head-to-head.

To play into the 20th birthday reunion theme, instead of dancing with their professional dance partner, each celebrity was partnered with a former Mirrorball winner. One couple performed one half of a song, and the competitor completed the second. The judges then chose the winner of the relay, which meant three teams received two bonus points each, added to their total score.

The relay winners were Jordan Chiles with Season 4 winner Apolo Anton Ohno, Dylan Efron with Season 20 winner Rumer Willis, and Robert Irwin with Season 32 winner Xochitl Gomez.

Who was sent home on week 9 of “Dancing with the Stars” Season 34?

After combining the judges’ scores with the audience votes, it was Andy Richter’s turn to be eliminated.

He graciously gave all the credit for his success to his partner, Emma Slater, and said he certainly feels like a winner.

Next week, for the semi-finals, the couples will dance to the music of Prince.